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对一种空间3自由度并联机器人(3-■RC并联机器人)进行动力学分析。此并联机器人的机构由一个动平台和一个静平台通过3个同样的转动副—转动副—圆柱副支链组成。基于Lagrange方程导出3-■RC并联机器人的动力学模型,并分析此并联机器人的动力学特性。通过一个算例,讨论3-■RC并联机器人的等效转动惯量、驱动力/力矩和能耗的变化规律。结果表明,对于给定的运动规律,机构位形对系统的等效转动惯量和驱动力/力矩的影响很大。研究对进一步分析3-■RC并联机器人的动态特性、机构优化设计和系统控制等实际工程应用具有重要意义。
Dynamic analysis of a 3 DOF parallel robot (3- ■ RC parallel robot). This parallel robot mechanism consists of a moving platform and a static platform through the same three rotating deputy - rotating deputy - cylindrical deputy branch chain composition. Based on the Lagrange equation, the kinetic model of 3-RC hybrid robot is derived and the dynamic characteristics of the parallel robot are analyzed. An example is given to discuss the variation law of equivalent moment of inertia, driving force / moment and energy consumption of 3- ■ RC parallel robot. The results show that for a given law of motion, the mechanism profile has a significant effect on the system’s equivalent moment of inertia and driving force / moment. The research is of great significance to the further analysis of 3-RC parallel robot’s dynamic characteristics, structural optimization design and system control.